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circle buffer rough fix #785

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circle buffer rough fix #785

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ba748cc
circle buffer rough fix
caila-marashaj Jun 18, 2024
9e964a4
dont need both a bool and count
caila-marashaj Jun 18, 2024
fd4f309
Update include/sensors/core/tasks/pressure_driver.hpp
caila-marashaj Jun 24, 2024
54d4f0d
Update include/sensors/core/tasks/pressure_driver.hpp
caila-marashaj Jun 24, 2024
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61 changes: 44 additions & 17 deletions include/sensors/core/tasks/pressure_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ class MMR920 {
echoing = should_echo;
if (should_echo) {
sensor_buffer_index = 0; // reset buffer index
pressure_transations = 0;
}
}

Expand Down Expand Up @@ -290,25 +291,48 @@ class MMR920 {
}

void send_accumulated_sensor_data(uint32_t message_index) {
for (int i = 0; i < static_cast<int>(SENSOR_BUFFER_SIZE); i++) {
// send over buffer and then clear buffer values
// NOLINTNEXTLINE(div-by-zero)
int current_index = (i + sensor_buffer_index) %
static_cast<int>(SENSOR_BUFFER_SIZE);
if (pressure_transations >= 500) {
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500 should be SENSOR_BUFFER_SIZE

for (int i = 0; i < static_cast<int>(SENSOR_BUFFER_SIZE); i++) {
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nit: things used as indices should be unsigned

// send over buffer and then clear buffer values
// NOLINTNEXTLINE(div-by-zero)
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is this warning because SENSOR_BUFFER_SIZE isn't defined in lint or something?

int current_index = (i + sensor_buffer_index) %
static_cast<int>(SENSOR_BUFFER_SIZE);

can_client.send_can_message(
can::ids::NodeId::host,
can::messages::ReadFromSensorResponse{
.message_index = message_index,
.sensor = can::ids::SensorType::pressure,
.sensor_id = sensor_id,
.sensor_data = mmr920::reading_to_fixed_point(
(*sensor_buffer).at(current_index))});
if (i % 10 == 0) {
// slow it down so the can buffer doesn't choke
vtask_hardware_delay(50);
can_client.send_can_message(
can::ids::NodeId::host,
can::messages::ReadFromSensorResponse{
.message_index = message_index,
.sensor = can::ids::SensorType::pressure,
.sensor_id = sensor_id,
.sensor_data = mmr920::reading_to_fixed_point(
(*sensor_buffer).at(current_index))});
if (i % 10 == 0) {
// slow it down so the can buffer doesn't choke
vtask_hardware_delay(50);
}
(*sensor_buffer).at(current_index) = 0;
}
}
// I think counting the transactions here might
// be preferable to having to ignore a bunch
// of 0's at the end in Python, because we might end up accidentally
// ignoring valid data that way
else {
for (int i = 0; i < pressure_transations; i++) {
can_client.send_can_message(
can::ids::NodeId::host,
can::messages::ReadFromSensorResponse{
.message_index = message_index,
.sensor = can::ids::SensorType::pressure,
.sensor_id = sensor_id,
.sensor_data = mmr920::reading_to_fixed_point(
(*sensor_buffer).at(i))});
if (i % 10 == 0) {
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let's add a todo here or something - send_can_message should return a success value so we can reactively do this when needed

// slow it down so the can buffer doesn't choke
vtask_hardware_delay(50);
}
}
(*sensor_buffer).at(current_index) = 0;
(*sensor_buffer).at(i) = 0;
}
}

Expand Down Expand Up @@ -371,6 +395,8 @@ class MMR920 {
if (echo_this_time) {
auto response_pressure = pressure - current_pressure_baseline_pa;
// do we want pressure or response pressure
if (pressure_transations < 500) { pressure_transactions++; }
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500 should be SENSOR_BUFFER_SIZE instead


sensor_buffer_log(pressure);
can_client.send_can_message(
can::ids::NodeId::host,
Expand Down Expand Up @@ -532,6 +558,7 @@ class MMR920 {
float pressure_running_total = 0;
float temperature_running_total = 0;
uint16_t total_baseline_reads = 1;
uint16_t pressure_transactions = 0;

float current_pressure_baseline_pa = 0;
float current_temperature_baseline = 0;
Expand Down
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